RoboteQ AX2550, AX1500 user manual General Operation, Parameter Value, Speed Adjustment

General Operation

is found on all R/C transmitters, and which is actually an offset correction, the Left/Right Adjustment is a true multiplication factor as shown in Figure 20

% Forward

(Motor Output)

100

						80
						60
						40
						20
- 100	- 80	- 60	- 40	- 20
					0		20		40
								20
								40
								60
								80
								100

% Reverse

							% Forward
			0%				(Motor Output)
			-3%					100
			-5.25%						80
									60
									40
									20
			-100	- 80	- 60	- 40	- 20
			% Command Input
60	80	100								20	40	60	80	100
								0
										20
										40
										60
			5.25%							80
			3%							100
% Forward			0%					% Reverse

(Motor Output)

FIGURE 20. Left Right adjustment curves

The curves on the left show how a given forward direction command value will cause the motor to spin 3 or 5.25% slower than the same command value applied in the reverse direction. The curves on the right show how the same command applied to the forward direction will case the motor to spin 3 to 5.25% faster than the same command applied in the reverse direction. Note that since the motors cannot be made to spin faster than 100%, the reverse direction is the one that is actually slowed down.

In applications where two motors are used in a mixed mode for steering, the Left/Right Adjustment parameter may be used to make the robot go straight in case of a natural ten- dency to steer slightly to the left or to the right.

The Left/Right adjustment parameter can be set from -5.25% to +5.25% in seven steps of 0.75%. See “Programmable Parameters List” on page 175 and “Loading, Changing Con- troller Parameters” on page 164 for details on how to adjust this parameter.

The Left/Right adjustment is performed in addition to the other command curves described in this section. This adjustment is disabled when the controller operates in any of the sup- ported closed loop modes.

TABLE 6. Left/Right Adjustment Parameter selection

Parameter Value	Speed Adjustment	Parameter Value	Speed Adjustment
		7	None (default)
0	-5.25%	8	0.75%
1	-4.5%	9	1.5%
2	-3.75%	10	2.25%
3	-3%	11	3%
4	-2.25%	12	3.75%

48 AX1500 Motor Controller User’s Manual Version 1.9b. June 1, 2007